CN115351811A - Mechanical grabbing device for industrial robot - Google Patents
Mechanical grabbing device for industrial robot Download PDFInfo
- Publication number
- CN115351811A CN115351811A CN202211289935.7A CN202211289935A CN115351811A CN 115351811 A CN115351811 A CN 115351811A CN 202211289935 A CN202211289935 A CN 202211289935A CN 115351811 A CN115351811 A CN 115351811A
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- China
- Prior art keywords
- wall
- fixedly connected
- column
- industrial robot
- piston
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical gripping device for an industrial robot, which relates to the technical field of industrial robots and comprises the following components: the connecting device comprises a connecting seat, wherein a connecting column is arranged on the connecting seat, two ends of the connecting column respectively penetrate through the outer walls of two sides of the connecting seat and extend to the outer side, a bearing is sleeved on the outer surface of an extending portion of the connecting column, the connecting column is movably connected with the connecting seat through the bearing, a connecting disc and a fixing column are fixedly connected to the middle shaft of the outer wall of the front side of the connecting seat, and the fixing column is fixedly connected to the outer wall of one side, far away from the connecting seat, of the connecting disc. This industrial robot uses mechanical grabbing device, the staff can pass through the spliced pole with the device and the bearing activity sets up on industrial robot, when needs snatch the material, the staff can start electric putter, can promote the movable block and remove on the slide bar, can make the rotor plate take place to rotate, can make the tongs extend the gag lever post under the effect of stopper and reciprocate to the realization is to the effect of snatching of material.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a mechanical gripping device for an industrial robot.
Background
With the continuous development of science and technology, the number of robots used in industry is also increasing, and the application range is also wider and wider.
Industrial robot all is provided with mechanical grabbing device for the normal use of coordinating each functional module usually, and general grabbing device dynamics is difficult to control, when snatching some hard not enough articles, like circular articles such as circular box of paper, the circular box of plastics, the dynamics is too big can cause the damage to the article that is snatched, and the dynamics is less, because traditional grabbing device is less with the contact surface of circular article, this will make and lead to article to drop when snatching.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides a mechanical gripper for an industrial robot, including: the connecting seat is provided with a connecting column, two ends of the connecting column penetrate through outer walls of two sides of the connecting seat respectively and extend to the outside, a bearing is sleeved on the outer surface of an extending portion of the connecting column, the connecting column is movably connected with the connecting seat through the bearing, a connecting disc and a fixing column are fixedly connected to the center shaft of the outer wall of the front face of the connecting seat, the fixing column is fixedly connected to the outer wall of one side, far away from the connecting seat, of the connecting disc, a plurality of sliding grooves are formed in the outer wall of the fixing column, a moving block is sleeved on the outer wall of the sliding disc in a sliding mode, an electric push rod is fixedly connected to the side wall of the moving block, one end, far away from the moving block, of the electric push rod is fixedly connected with the side wall of the connecting disc, auxiliary plates are four in number, the auxiliary plates are fixedly connected to the outer wall, far away from the connecting disc, of the fixing column, limiting grooves are formed in the inner walls of the limiting grooves, a limiting rod is fixedly connected to the center shaft, limiting block is arranged on the limiting rod in a sliding mode, the limiting block is rotatably connected with the rotating plate through the rotating plate, and a gripper is far away from one side outer wall of the limiting block.
Furthermore, an inclined groove is formed in the moving block, a rotating column is fixedly connected inside the inclined groove, an auxiliary rotating column is fixedly connected to one end, far away from the hand grab, of the limiting block, and the two ends of the rotating plate are respectively sleeved on the outer surfaces of the auxiliary rotating column and the rotating column in a rotating mode.
Furthermore, one end of the gripper, which is far away from the limiting block, is fixedly connected with a clamping plate, the outer wall of one side of the clamping plate, which is far away from the gripper, is fixedly connected with a plurality of semicircular friction columns, wherein the clamping plate is arranged in an arc shape, and the outer surfaces of the semicircular friction columns are rough surfaces.
Further, a gas cavity is formed in the gripper, a gas pressure cavity is formed in the clamping plate, and the gas cavity is communicated with the gas pressure cavity.
Furthermore, an auxiliary cavity is formed in the semicircular friction column, a plurality of circulation grooves are formed in the side wall of the clamping plate and are respectively arranged opposite to the plurality of auxiliary cavities, and the circulation grooves are communicated with the auxiliary cavities.
Further, the outer wall of the top of the gripper is fixedly connected with a piston tube, the outer wall of the bottom side of the piston tube is provided with a gas hole, and the gas hole is communicated with the gas cavity.
Furthermore, a piston disc is arranged inside the piston tube in a sliding mode, the outer wall of the piston disc is in contact with the inner wall of the piston tube, a piston pull rod is fixedly connected to the outer wall of the top of the piston disc, one end, far away from the piston disc, of the piston pull rod penetrates through the outer wall of the top of the piston tube in a sliding mode and extends to the outer side, and the extending portion of the piston pull rod is fixedly connected with the side wall of the auxiliary plate.
Furthermore, the outer wall of the bottom side of the semicircular friction column is fixedly connected with a plurality of suckers respectively, and the suckers are communicated with the auxiliary cavity.
Compared with the prior art, the invention has the beneficial effects that:
(1) This industrial robot uses mechanical grabbing device, the staff can pass through the spliced pole with the device and the bearing activity sets up on industrial robot, when needs snatch the material, the staff can start electric putter, can promote the movable block and remove on the slide bar, can make the rotor plate take place to rotate, can make the tongs extend the gag lever post under the effect of stopper and reciprocate to the realization is to the effect of snatching of material.
(2) This industrial robot uses mechanical grabbing device, through the device's setting, through set up the grip block on the tongs, and the grip block is the arc state, when snatching circular material like this, can make the grip block all the time with circular material surface contact to can increase the area of contact between the device and the circular material, thereby strengthened and snatched the effect, strengthened the device's stability, prevent to snatch the in-process, circular material slippage.
(3) This industrial robot uses mechanical grabbing device is provided with a plurality of semicircle friction post through the clamping face at the grip block, and its outer wall is the friction surface, just so makes when snatching the material, the device is the friction surface with the contact surface of circular material, and then can increase the frictional force between the device and the circular material, and then has further strengthened the device to the effect of snatching of material for circular material is more stable when snatching.
(4) This industrial robot uses mechanical grabbing device, when the tongs snatch the material, being close to each other of tongs, can making piston pull rod pulling piston dish take place to remove along the inside of piston pipe, and then can carry out the pull to the gas of gas chamber and atmospheric pressure intracavity portion to this can make sucking disc and material outer wall contact site demonstrate negative pressure state, can increase the device and adsorb the dynamics to the centre gripping of material when snatching with this, thereby further strengthened the device and snatched stability to the material.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the moving block of the present invention;
FIG. 3 is an enlarged view of A of FIG. 2 according to the present invention;
FIG. 4 is a schematic view of the overall configuration of the gripper of the present invention;
FIG. 5 is a schematic view of the overall structure of the auxiliary plate according to the present invention;
FIG. 6 is a perspective cross-sectional view of the overall construction of the gripper of the present invention;
FIG. 7 is an enlarged view of B of FIG. 6 according to the present invention;
FIG. 8 is a schematic view of the overall structure of the semi-circular friction cylinder of the present invention.
In the figure: 1. a connecting seat; 11. connecting columns; 12. a bearing; 13. connecting the disc; 2. fixing the column; 21. a chute; 22. a slide bar; 23. a moving block; 24. an electric push rod; 3. an auxiliary plate; 31. a limiting groove; 32. a limiting rod; 33. a limiting block; 34. a rotating plate; 35. a gripper; 4. an inclined groove; 41. rotating the column; 42. an auxiliary rotating column; 5. a clamping plate; 51. a semi-circular friction cylinder; 6. a gas chamber; 61. a pneumatic chamber; 62. an auxiliary chamber; 63. a circulation tank; 7. a piston tube; 71. a gas hole; 8. a piston disc; 81. a piston rod; 9. and (4) sucking discs.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Example 1
Referring to fig. 1 to 4, the present invention is a mechanical grabbing device for an industrial robot, comprising:
the connecting seat 1, be provided with spliced pole 11 on the connecting seat 1, the purpose that sets up like this is for the convenience of the whole device of fixed connection, the both ends of spliced pole 11 run through the both sides outer wall of connecting seat 1 respectively and extend to the outside, the purpose that sets up like this is for the convenience of the spacing of spliced pole 11, the extension outside surface cover of spliced pole 11 is equipped with bearing 12, the purpose that sets up like this is for the convenience of the fixed of spliced pole 11, spliced pole 11 passes through bearing 12 swing joint with connecting seat 1, the purpose that sets up like this is for the convenience of the dismantlement of the device, the front outer wall axis department of connecting seat 1 fixedly connected with connection pad 13, the purpose that sets up like this is for the convenience of the supplementary fixed column 2 that sets up;
fixed column 2, fixed column 2 fixed connection is in one side outer wall that connecting pad 13 kept away from connecting seat 1, the purpose that sets up like this is for the convenience of fixed column 2, a plurality of spout 21 has been seted up on the fixed column 2 outer wall, the purpose that sets up like this is for the convenience of supplementary slide bar 22 that sets up, the inside fixedly connected with slide bar 22 of spout 21, the purpose that sets up like this is for the convenience of supplementary movable block 23 that sets up, sliding sleeve is equipped with movable block 23 on the slide bar 22 outer wall, the purpose that sets up like this is for the convenience of the removal of movable block 23, the lateral wall fixedly connected with electric putter 24 of movable block 23, the purpose that sets up like this is for the convenience of promoting movable block 23 to remove, electric putter 24 keeps away from the one end of movable block 23 and the lateral wall fixed connection of connecting pad 13, the purpose that sets up like this is for the convenience of fixing electric putter 24;
The moving block 23 is provided with an inclined groove 4, the inclined groove is used for facilitating auxiliary arrangement of a rotating column 41, the rotating column 41 is fixedly connected inside the inclined groove 4, the inclined groove is used for facilitating limiting of the rotating plate 34, one end, far away from the hand grip 35, of the limiting block 33 is fixedly connected with an auxiliary rotating column 42, and the inclined groove is used for facilitating rotation of the rotating plate 34;
wherein, the two ends of the rotating plate 34 are respectively sleeved on the outer surfaces of the auxiliary rotating column 42 and the rotating column 41 in a rotating manner, and the purpose of this is to facilitate the rotating plate 34 to rotate.
Example 2
The distinguishing feature from the embodiment 1 is that,
as shown in fig. 1-8
One end, far away from the limiting block 33, of the gripper 35 is fixedly connected with a clamping plate 5, so that the purpose is to facilitate clamping, and the outer wall of one side, far away from the gripper 35, of the clamping plate 5 is fixedly connected with a plurality of semicircular friction columns 51, so that the purpose is to facilitate increasing of friction force;
wherein, grip block 5 is the arc setting, and the purpose that sets up like this is for the convenience to carry on spacingly to grip block 5, and semicircle friction column 51's surface is the matte, and the purpose that sets up like this is for the convenience of increase frictional force.
The gas cavity 6 is formed in the gripper 35, so that gas can be stored conveniently, the gas pressure cavity 61 is formed in the gripper plate 5, so that gas can flow conveniently, the gas cavity 6 is communicated with the gas pressure cavity 61, and gas can enter conveniently.
The top outer wall of the hand grip 35 is fixedly connected with the piston tube 7, and the purpose of the arrangement is to facilitate drawing and pulling of gas, the bottom outer wall of the piston tube 7 is provided with a gas hole 71, the purpose of the arrangement is to facilitate gas entering, the gas hole 71 is communicated with the gas cavity 6, and the purpose of the arrangement is to facilitate gas flowing.
The inside slip of piston pipe 7 is provided with piston disc 8, the purpose that sets up like this is for the convenience to carry out the pull to gas, the outer wall of piston disc 8 and the inner wall contact setting of piston pipe 7, the purpose that sets up like this is for the convenience to carry on spacingly to piston disc 8, the top outer wall fixedly connected with piston pull rod 81 of piston disc 8, the purpose that sets up like this is for the convenience to stimulate piston disc 8, the one end slip that piston pull rod 81 kept away from piston disc 8 runs through the top outer wall of piston pipe 7 and extends to the outside, the purpose that sets up like this is for the convenience to move of piston pull rod 81, and its extension and the lateral wall fixed connection of accessory plate 3, the purpose that sets up like this is for the convenience to fix piston pull rod 81.
The bottom side outer wall of semicircle friction column 51 is a plurality of sucking disc 9 of fixedly connected with respectively, and the purpose that sets up like this is for the convenience of the increase suction when snatching, and a plurality of sucking disc 9 and supplementary chamber 62 intercommunication set up, and the purpose that sets up like this is for the convenience of producing the negative pressure when snatching.
One specific application of this embodiment is:
the staff can pass through spliced pole 11 and bearing 12 activity setting on industrial robot with the device, when needs snatch the material, the staff can start electric putter 24, can promote movable block 23 and remove on slide bar 22, can make rotor plate 34 take place to rotate, can make tongs 35 extend gag lever post 32 and reciprocate under stopper 33's effect, thereby realize the effect of snatching the material, secondly, through the device's setting, through setting up grip block 5 on tongs 35, and grip block 5 is the arc state, when snatching circular material like this, can make grip block 5 all the time with circular material surface contact, thereby can increase the area of contact between device and the circular material, thereby strengthened the effect of snatching, the device's stability has been strengthened, prevent in the snatching process, circular material slippage.
Meanwhile, the plurality of semicircular friction columns 51 are arranged on the clamping face of the clamping plate 5, and the outer wall of each semicircular friction column is a friction face, so that when the material is grabbed, the contact face of the device and the circular material is a friction face, the friction force between the device and the circular material can be increased, the grabbing effect of the device on the material is further enhanced, the circular material is more stable when the material is grabbed, and secondly, when the grabbers 35 grab the material, the grabbers 35 approach each other, the piston pull rod 81 can pull the piston disc 8 to move along the inside of the piston pipe 7, the gas in the gas cavity 6 and the gas in the gas pressure cavity 61 can be pulled, so that the contact part between the suction disc 9 and the outer wall of the material can be in a negative pressure state, the clamping and adsorption force of the device on the material when the material is grabbed can be increased, and the stability of the device when the material is grabbed is further enhanced.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are not specifically illustrated or described, but are instead contemplated to be practiced in the art by those skilled in the art.
Claims (8)
1. A mechanical grabbing device for industrial robot, characterized by comprising:
the connecting device comprises a connecting seat (1), wherein a connecting column (11) is arranged on the connecting seat (1), two ends of the connecting column (11) respectively penetrate through the outer walls of two sides of the connecting seat (1) and extend to the outer side, a bearing (12) is sleeved on the outer surface of the extending part of the connecting column (11), the connecting column (11) is movably connected with the connecting seat (1) through the bearing (12), and a connecting disc (13) is fixedly connected to the central shaft of the outer wall of the front side of the connecting seat (1);
the fixing column (2) is fixedly connected to the outer wall of one side, away from the connecting seat (1), of the connecting plate (13), a plurality of sliding grooves (21) are formed in the outer wall of the fixing column (2), sliding rods (22) are fixedly connected inside the sliding grooves (21), a moving block (23) is slidably sleeved on the outer wall of each sliding rod (22), an electric push rod (24) is fixedly connected to the side wall of each moving block (23), and one end, away from the moving block (23), of each electric push rod (24) is fixedly connected with the side wall of the connecting plate (13);
the auxiliary plates (3) are four in number, the four auxiliary plates (3) are respectively and fixedly connected to the outer wall of one end, far away from the connecting disc (13), of the fixed column (2), a limiting groove (31) is formed in each auxiliary plate (3), a limiting rod (32) is fixedly connected to the middle shaft in each limiting groove (31), a limiting block (33) is arranged on each limiting rod (32) in a sliding mode, each limiting block (33) is rotatably connected with the corresponding moving block (23) through a rotating plate (34), and a hand grip (35) is fixedly connected to the outer wall of one side, far away from the corresponding rotating plate (34), of each limiting block (33).
2. The mechanical grabbing device for the industrial robot of claim 1, characterized in that: an inclined groove (4) is formed in the moving block (23), a rotating column (41) is fixedly connected to the inside of the inclined groove (4), and an auxiliary rotating column (42) is fixedly connected to one end, far away from the hand grip (35), of the limiting block (33);
the two ends of the rotating plate (34) are respectively rotatably sleeved on the outer surfaces of the auxiliary rotating column (42) and the rotating column (41).
3. The mechanical grabbing device for the industrial robot of claim 2, characterized in that: one end, far away from the limiting block (33), of the hand grip (35) is fixedly connected with a clamping plate (5), and the outer wall of one side, far away from the hand grip (35), of the clamping plate (5) is fixedly connected with a plurality of semicircular friction columns (51);
the clamping plate (5) is arranged in an arc shape, and the outer surface of the semicircular friction column (51) is a rough surface.
4. The mechanical grabbing device for the industrial robot of claim 3, characterized in that: the gas cavity (6) is formed in the hand grip (35), the air pressure cavity (61) is formed in the clamping plate (5), and the gas cavity (6) is communicated with the air pressure cavity (61).
5. The mechanical grabbing device for the industrial robot of claim 4, characterized in that: an auxiliary cavity (62) is formed in the semicircular friction column (51), a plurality of circulation grooves (63) are formed in the side wall of the clamping plate (5), the circulation grooves (63) are respectively arranged opposite to the auxiliary cavities (62), and the circulation grooves (63) are communicated with the auxiliary cavities (62).
6. The mechanical grabbing device for the industrial robot of claim 5, characterized in that: the piston tube (7) is fixedly connected to the outer wall of the top of the hand grip (35), a gas hole (71) is formed in the outer wall of the bottom side of the piston tube (7), and the gas hole (71) is communicated with the gas cavity (6).
7. The mechanical grabbing device for the industrial robot of claim 6, characterized in that: the piston tube is characterized in that a piston disc (8) is arranged inside the piston tube (7) in a sliding mode, the outer wall of the piston disc (8) is in contact with the inner wall of the piston tube (7), a piston pull rod (81) is fixedly connected to the outer wall of the top of the piston disc (8), one end, far away from the piston disc (8), of the piston pull rod (81) penetrates through the outer wall of the top of the piston tube (7) in a sliding mode and extends to the outer side, and the extending portion of the piston pull rod is fixedly connected with the side wall of the auxiliary plate (3).
8. The mechanical grabbing device for the industrial robot of claim 7, characterized in that: the outer wall of the bottom side of the semicircular friction column (51) is fixedly connected with a plurality of suckers (9) respectively, and the suckers (9) are communicated with the auxiliary cavity (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211289935.7A CN115351811B (en) | 2022-10-21 | 2022-10-21 | Mechanical grabbing device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211289935.7A CN115351811B (en) | 2022-10-21 | 2022-10-21 | Mechanical grabbing device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115351811A true CN115351811A (en) | 2022-11-18 |
| CN115351811B CN115351811B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211289935.7A Active CN115351811B (en) | 2022-10-21 | 2022-10-21 | Mechanical grabbing device for industrial robot |
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| Country | Link |
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| CN (1) | CN115351811B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8705716D0 (en) * | 1987-03-11 | 1987-04-15 | Philips Nv | Gripping device |
| JP2012000687A (en) * | 2010-06-14 | 2012-01-05 | Yutaka Electronics Industry Co Ltd | Hand device, and articulated robot |
| CN206913171U (en) * | 2017-07-26 | 2018-01-23 | 陈少梅 | A kind of industrial machinery handgrip |
| CN210001201U (en) * | 2019-06-10 | 2020-01-31 | 青岛法纳科盛机器人自动化有限公司 | pile up neatly machine people elastic fixture |
| CN210968953U (en) * | 2019-11-25 | 2020-07-10 | 西安科拓机械设备有限公司 | Truss manipulator |
| CN212857999U (en) * | 2020-08-06 | 2021-04-02 | 中泰星宇建设集团有限公司 | Water conservancy pipeline cutting device |
| CN214352530U (en) * | 2021-01-31 | 2021-10-08 | 张家港恒硕精密机械有限公司 | Precision hardware mechanical arm gripper |
| CN113547535A (en) * | 2021-07-29 | 2021-10-26 | 王淼 | Multi-degree-of-freedom manipulator |
| CN214732619U (en) * | 2021-04-30 | 2021-11-16 | 巩义市金凯机械有限公司 | Grabbing device is used in mining machinery part production |
| CN216710875U (en) * | 2022-01-21 | 2022-06-10 | 江苏迅科工业自动化有限公司 | Anti-tilting robot gripper for carrying tubular materials |
| CN217072421U (en) * | 2022-03-25 | 2022-07-29 | 晋中福莱瑞达物流设备有限公司 | Mechanical arm for carrying and stacking hazardous chemical finished products |
| CN217208712U (en) * | 2022-01-24 | 2022-08-16 | 吴萍 | Image acquisition device for recording and converting engineering contracts |
-
2022
- 2022-10-21 CN CN202211289935.7A patent/CN115351811B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8705716D0 (en) * | 1987-03-11 | 1987-04-15 | Philips Nv | Gripping device |
| JP2012000687A (en) * | 2010-06-14 | 2012-01-05 | Yutaka Electronics Industry Co Ltd | Hand device, and articulated robot |
| CN206913171U (en) * | 2017-07-26 | 2018-01-23 | 陈少梅 | A kind of industrial machinery handgrip |
| CN210001201U (en) * | 2019-06-10 | 2020-01-31 | 青岛法纳科盛机器人自动化有限公司 | pile up neatly machine people elastic fixture |
| CN210968953U (en) * | 2019-11-25 | 2020-07-10 | 西安科拓机械设备有限公司 | Truss manipulator |
| CN212857999U (en) * | 2020-08-06 | 2021-04-02 | 中泰星宇建设集团有限公司 | Water conservancy pipeline cutting device |
| CN214352530U (en) * | 2021-01-31 | 2021-10-08 | 张家港恒硕精密机械有限公司 | Precision hardware mechanical arm gripper |
| CN214732619U (en) * | 2021-04-30 | 2021-11-16 | 巩义市金凯机械有限公司 | Grabbing device is used in mining machinery part production |
| CN113547535A (en) * | 2021-07-29 | 2021-10-26 | 王淼 | Multi-degree-of-freedom manipulator |
| CN216710875U (en) * | 2022-01-21 | 2022-06-10 | 江苏迅科工业自动化有限公司 | Anti-tilting robot gripper for carrying tubular materials |
| CN217208712U (en) * | 2022-01-24 | 2022-08-16 | 吴萍 | Image acquisition device for recording and converting engineering contracts |
| CN217072421U (en) * | 2022-03-25 | 2022-07-29 | 晋中福莱瑞达物流设备有限公司 | Mechanical arm for carrying and stacking hazardous chemical finished products |
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| Publication number | Publication date |
|---|---|
| CN115351811B (en) | 2023-04-07 |
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